# Move Base Flex Costmap Navigation Core  {#mainpage}

This package provides common interfaces for navigation specific robot actions. It contains the CostmapPlanner, CostmapController and CostmapRecovery interfaces. The interfaces have to be implemented by the plugins to make them available for Move Base Flex using the [mbf_costmap_nav](wiki.ros.org/mbf_costmap_nav) navigation implementation. That implementation inherits the [mbf_abstract_nav](wiki.ros.org/mbf_abstract_nav) implementation and binds the system to a local and a global costmap.